Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection

by Michal Ciszewski, Mariusz Giergiel, Tomasz Buratowski, Piotr Malka

Overview

This book describes the design, mathematical modeling, control system development and experimental validation of a versatile mobile pipe inspection robot. It also discusses a versatile robotic system for pipeline inspection, together with an original, adaptable tracked mobile robot featuring a patented motion unit. Pipeline inspection is a common field of application for mobile robots because the monitoring of inaccessible, long and narrow pipelines is a very difficult task for humans. The main design objective is to minimize the number of robots needed to inspect different types of horizontal and vertical pipelines, with both smooth and rough surfaces. The book includes extensive information on the various design phases, mathematical modeling, simulations and control system development. In closing, the prototype construction process and testing procedures are presented and supplemented with laboratory and field experiments.

Product Details

ISBN-13:	9783030427146
Publisher:	Springer International Publishing
Publication date:	03/18/2020
Series:	Mechanisms and Machine Science , #82
Edition description:	1st ed. 2020
Pages:	132
Product dimensions:	6.10(w) x 9.25(h) x (d)

Table of Contents

Introduction.- Robotic inspection of pipelines.- Design of a pipeline inspection mobile robot with an active adaptation mechanism.- Mathematical modeling of the robot.- Simulations of the robot adaptation and motion in various environments.- Control system design and implementation.- Prototype of the pipe inspection robot.- Discussion, conclusions and future work.